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Separate galactic branch from ros2 branch #201

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Dec 30, 2021
Merged

Separate galactic branch from ros2 branch #201

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2a5ac8c
Separate galactic branch from ros2
chapulina Dec 29, 2021
ff347d8
Remove Citadel
chapulina Dec 29, 2021
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5 changes: 1 addition & 4 deletions .github/workflows/ros2-ci.yml
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Expand Up @@ -12,12 +12,9 @@ jobs:
- docker-image: "ubuntu:20.04"
ignition-version: "edifice"
ros-distro: "galactic"
- docker-image: "ubuntu:20.04"
ignition-version: "edifice"
ros-distro: "rolling"
- docker-image: "ubuntu:20.04"
ignition-version: "fortress"
ros-distro: "rolling"
ros-distro: "galactic"
container:
image: ${{ matrix.docker-image }}
steps:
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23 changes: 10 additions & 13 deletions README.md
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Expand Up @@ -6,12 +6,13 @@ Melodic | Citadel | [melodic](https://github.com/osrf/ros_ign/tree/melodic) | on
Melodic | Fortress | [melodic](https://github.com/osrf/ros_ign/tree/melodic) | only from source
Noetic | Citadel | [noetic](https://github.com/osrf/ros_ign/tree/noetic) | https://packages.ros.org
Noetic | Edifice | [noetic](https://github.com/osrf/ros_ign/tree/noetic) | only from source
Noetic | Fortress (not released) | [noetic](https://github.com/osrf/ros_ign/tree/noetic) | only from source
Noetic | Fortress | [noetic](https://github.com/osrf/ros_ign/tree/noetic) | only from source
Foxy | Citadel | [foxy](https://github.com/osrf/ros_ign/tree/foxy) | https://packages.ros.org
Foxy | Edifice | [foxy](https://github.com/osrf/ros_ign/tree/foxy) | only from source
Galactic | Edifice | [ros2](https://github.com/osrf/ros_ign/tree/ros2) | https://packages.ros.org
Galactic | Edifice | [galactic](https://github.com/osrf/ros_ign/tree/galactic) | https://packages.ros.org
Galactic | Fortress | [galactic](https://github.com/osrf/ros_ign/tree/galactic) | only from source
Rolling | Edifice | [ros2](https://github.com/osrf/ros_ign/tree/ros2) | https://packages.ros.org
Rolling | Fortress (not released) | [ros2](https://github.com/osrf/ros_ign/tree/ros2) | only from source
Rolling | Fortress | [ros2](https://github.com/osrf/ros_ign/tree/ros2) | only from source

> Please [ticket an issue](https://github.com/ignitionrobotics/ros_ign/issues/) if you'd like support to be added for some combination.

Expand Down Expand Up @@ -45,11 +46,11 @@ This repository holds packages that provide integration between

## Install

This branch supports ROS Galactic and Rolling. See above for other ROS versions.
This branch supports ROS Galactic. See above for other ROS versions.

### Binaries

Galactic and Rolling binaries are available for Edifice.
Galactic binaries are available for Edifice.
They are hosted at https://packages.ros.org.

1. Add https://packages.ros.org
Expand All @@ -60,16 +61,14 @@ They are hosted at https://packages.ros.org.

1. Install `ros_ign`

sudo apt install ros-<distro>-ros-ign

Where `<distro>` can be `galactic` or `rolling`.
sudo apt install ros-galactic-ros-ign

### From source

#### ROS

Be sure you've installed
[ROS Galactic or Rolling](https://index.ros.org/doc/ros2/Installation/)
[ROS Galactic](https://index.ros.org/doc/ros2/Installation/)
(at least ROS-Base). More ROS dependencies will be installed below.

#### Ignition
Expand Down Expand Up @@ -102,18 +101,16 @@ The following steps are for Linux and OSX.

```
cd ~/ws
rosdep install -r --from-paths src -i -y --rosdistro <distro>
rosdep install -r --from-paths src -i -y --rosdistro galactic
```

Where `<distro>` can be `galactic` or `rolling`.

> If `rosdep` fails to install Ignition libraries and you have not installed them before, please follow [Ignition installation instructions](https://ignitionrobotics.org/docs/latest/install).

1. Build the workspace:

```
# Source ROS distro's setup.bash
source /opt/ros/<distro>/setup.bash
source /opt/ros/galactic/setup.bash

# Build and install into workspace
cd ~/ws
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11 changes: 1 addition & 10 deletions ros_ign_bridge/CMakeLists.txt
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Expand Up @@ -21,17 +21,8 @@ find_package(std_msgs REQUIRED)
find_package(tf2_msgs REQUIRED)
find_package(trajectory_msgs REQUIRED)

# Citadel
if("$ENV{IGNITION_VERSION}" STREQUAL "citadel")
find_package(ignition-transport8 REQUIRED)
set(IGN_TRANSPORT_VER ${ignition-transport8_VERSION_MAJOR})

find_package(ignition-msgs5 REQUIRED)
set(IGN_MSGS_VER ${ignition-msgs5_VERSION_MAJOR})

message(STATUS "Compiling against Ignition Citadel")
# Fortress
elseif("$ENV{IGNITION_VERSION}" STREQUAL "fortress")
if("$ENV{IGNITION_VERSION}" STREQUAL "fortress")
find_package(ignition-transport11 REQUIRED)
set(IGN_TRANSPORT_VER ${ignition-transport11_VERSION_MAJOR})

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3 changes: 0 additions & 3 deletions ros_ign_bridge/package.xml
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Expand Up @@ -31,9 +31,6 @@
<depend condition="$IGNITION_VERSION == edifice">ignition-transport10</depend>
<depend condition="$IGNITION_VERSION == ''">ignition-msgs7</depend>
<depend condition="$IGNITION_VERSION == ''">ignition-transport10</depend>
<!-- Citadel -->
<depend condition="$IGNITION_VERSION == citadel">ignition-msgs5</depend>
<depend condition="$IGNITION_VERSION == citadel">ignition-transport8</depend>

<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_lint_auto</test_depend>
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11 changes: 1 addition & 10 deletions ros_ign_gazebo/CMakeLists.txt
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Expand Up @@ -14,17 +14,8 @@ find_package(ament_cmake REQUIRED)
find_package(ignition-math6 REQUIRED)
find_package(rclcpp REQUIRED)

# Citadel
if("$ENV{IGNITION_VERSION}" STREQUAL "citadel")
find_package(ignition-transport8 REQUIRED)
set(IGN_TRANSPORT_VER ${ignition-transport8_VERSION_MAJOR})

find_package(ignition-msgs5 REQUIRED)
set(IGN_MSGS_VER ${ignition-msgs5_VERSION_MAJOR})

message(STATUS "Compiling against Ignition Citadel")
# Fortress
elseif("$ENV{IGNITION_VERSION}" STREQUAL "fortress")
if("$ENV{IGNITION_VERSION}" STREQUAL "fortress")
find_package(ignition-transport11 REQUIRED)
set(IGN_TRANSPORT_VER ${ignition-transport11_VERSION_MAJOR})

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2 changes: 0 additions & 2 deletions ros_ign_gazebo/package.xml
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Expand Up @@ -22,8 +22,6 @@
<!-- Edifice (default) -->
<depend condition="$IGNITION_VERSION == edifice">ignition-gazebo5</depend>
<depend condition="$IGNITION_VERSION == ''">ignition-gazebo5</depend>
<!-- Citadel -->
<depend condition="$IGNITION_VERSION == citadel">ignition-gazebo3</depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
Expand Down
2 changes: 0 additions & 2 deletions ros_ign_gazebo_demos/package.xml
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Expand Up @@ -12,8 +12,6 @@
<!-- Edifice (default) -->
<exec_depend condition="$IGNITION_VERSION == edifice">ignition-gazebo5</exec_depend>
<exec_depend condition="$IGNITION_VERSION == ''">ignition-gazebo5</exec_depend>
<!-- Citadel -->
<exec_depend condition="$IGNITION_VERSION == citadel">ignition-gazebo3</exec_depend>

<exec_depend>image_transport_plugins</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
Expand Down
11 changes: 1 addition & 10 deletions ros_ign_image/CMakeLists.txt
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Expand Up @@ -16,17 +16,8 @@ find_package(ros_ign_bridge REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)

# Citadel
if("$ENV{IGNITION_VERSION}" STREQUAL "citadel")
find_package(ignition-transport8 REQUIRED)
set(IGN_TRANSPORT_VER ${ignition-transport8_VERSION_MAJOR})

find_package(ignition-msgs5 REQUIRED)
set(IGN_MSGS_VER ${ignition-msgs5_VERSION_MAJOR})

message(STATUS "Compiling against Ignition Citadel")
# Fortress
elseif("$ENV{IGNITION_VERSION}" STREQUAL "fortress")
if("$ENV{IGNITION_VERSION}" STREQUAL "fortress")
find_package(ignition-transport11 REQUIRED)
set(IGN_TRANSPORT_VER ${ignition-transport11_VERSION_MAJOR})

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3 changes: 0 additions & 3 deletions ros_ign_image/package.xml
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Expand Up @@ -21,9 +21,6 @@
<depend condition="$IGNITION_VERSION == edifice">ignition-transport10</depend>
<depend condition="$IGNITION_VERSION == ''">ignition-msgs7</depend>
<depend condition="$IGNITION_VERSION == ''">ignition-transport10</depend>
<!-- Citadel -->
<depend condition="$IGNITION_VERSION == citadel">ignition-msgs5</depend>
<depend condition="$IGNITION_VERSION == citadel">ignition-transport8</depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
Expand Down